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  1. # EMC controller parameters for a simulated machine.
  2.  
  3. # General note: Comments can either be preceded with a # or ; - either is
  4. # acceptable, although # is in keeping with most linux config files.
  5.  
  6. # General section -------------------------------------------------------------
  7. [EMC]
  8.  
  9. # Version of this INI file
  10. VERSION = 1.0
  11.  
  12. # Name of machine, for use with display, etc.
  13. MACHINE = LinuxCNC-HAL-SIM-AXIS
  14.  
  15. # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
  16. #DEBUG = 0x7FFFFFFF
  17. DEBUG = 0
  18.  
  19. # Sections for display options ------------------------------------------------
  20.  
  21.  
  22.  
  23. [RS274NGC]
  24. SUBROUTINE_PATH = /home/josh/linuxcnc-dev/configs/sim/axis/nc_files/ngcgui_lib:/home/josh/linuxcnc-dev/configs/sim/axis/nc_files/ngcgui_lib/utilitysubs
  25.  
  26.  
  27. [DISPLAY]
  28.  
  29.  
  30.  
  31. TKPKG = Ngcgui 1.0
  32. TKPKG = Ngcguittt 1.0
  33. # Ngcgui must be before Ngcguittt
  34. NGCGUI_FONT = Helvetica -12 normal
  35. NGCGUI_PREAMBLE = /home/josh/linuxcnc-dev/configs/sim/nc_files/in_std.ngc
  36. # here type names of your programs
  37.  
  38. NGCGUI_SUBFILE = /home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/helix.ngc
  39. NGCGUI_SUBFILE = /home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/helix_rtheta.ngc
  40. NGCGUI_SUBFILE = /home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/iquad.ngc
  41. NGCGUI_SUBFILE = /home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/arc1.ngc
  42. NGCGUI_SUBFILE = /home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/arc2.ngc
  43. NGCGUI_SUBFILE = /home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/hole_circle.ngc
  44. NGCGUI_SUBFILE = /home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/qpocket.ngc
  45. NGCGUI_SUBFILE = /home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/slot.ngc
  46. # symbol "" opens empty tab
  47. NGCGUI_SUBFILE = ""
  48. NGCGUI_OPTIONS = noremove
  49. #NGCGUI_OPTIONS = opt1 opt2 ...
  50. # avalible options:
  51. # nonew -- prevent from creating new tab
  52. # noremove -- prevent from removing tabs
  53. # noauto -- no autofilling
  54. # noiframe -- images displaying in new window
  55. #GCMC_INCLUDE_PATH = /home/myname/gcmc_includes
  56. # turning on engraving generator
  57. TTT = /usr/bin/truetype-tracer
  58. TTT_PREAMBLE = in_std.ngc
  59. #PROGRAM_PREFIX = /home/josh/linuxcnc-dev/configs/sim/nc_files
  60. #==================================================
  61. #[RS274NGC]
  62. #PARAMETER_FILE = linuxcnc.var
  63. #======================NGCGUI======================
  64. # path to ngcgui files
  65. #SUBROUTINE_PATH = /home/josh/linuxcnc-dev/sim/nc_files/ngcgui_lib:/home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/utilitysubs
  66. #USER_M_PATH = home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/mfiles
  67. #==================================================
  68.  
  69.  
  70.  
  71.  
  72.  
  73. # Name of display program, e.g., axis
  74. DISPLAY = axis
  75.  
  76. # Cycle time, in seconds, that display will sleep between polls
  77. CYCLE_TIME = 0.100
  78.  
  79. # Path to help file
  80. HELP_FILE = doc/help.txt
  81.  
  82. # Initial display setting for position, RELATIVE or MACHINE
  83. POSITION_OFFSET = RELATIVE
  84.  
  85. # Initial display setting for position, COMMANDED or ACTUAL
  86. POSITION_FEEDBACK = ACTUAL
  87.  
  88. # Highest value that will be allowed for feed override, 1.0 = 100%
  89. MAX_FEED_OVERRIDE = 1.2
  90. MAX_SPINDLE_OVERRIDE = 1.0
  91.  
  92. MAX_LINEAR_VELOCITY = 5
  93. DEFAULT_LINEAR_VELOCITY = .25
  94. DEFAULT_SPINDLE_SPEED = 200
  95. # Prefix to be used
  96. PROGRAM_PREFIX = ../../nc_files/
  97.  
  98. # Introductory graphic
  99. INTRO_GRAPHIC = linuxcnc.gif
  100. INTRO_TIME = 5
  101.  
  102. EDITOR = gedit
  103. TOOL_EDITOR = tooledit
  104.  
  105. INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in
  106. #TKPKG=Ngcgui 1.0
  107. #TKPKG=Ngcguittt 1.0
  108. #TTT=truetype-tracer
  109. #TTT_PREAMBLE=in_std.ngc
  110. #NGCGUI_FONT=Helvetica-12 normal
  111. #NGCGUI_PREAMBLE=/home/josh/linuxcnc-dev/configs/sim/nc_files/in_std.ngc
  112. #NGCGUI_SUBFILE=gcmcname1.gcmc
  113. #NGCGUI_SUBFILE=gcmcname2.gcmc
  114. #NGCGUI_SUBFILE=/home/josh/linuxcnc-dev/configs/sim/nc_files/arcspiral.ngc
  115. [FILTER]
  116. PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
  117. PROGRAM_EXTENSION = .py Python Script
  118.  
  119. png = image-to-gcode
  120. gif = image-to-gcode
  121. jpg = image-to-gcode
  122. py = python
  123.  
  124. # Task controller section -----------------------------------------------------
  125. [TASK]
  126.  
  127. # Name of task controller program, e.g., milltask
  128. TASK = milltask
  129.  
  130. # Cycle time, in seconds, that task controller will sleep between polls
  131. CYCLE_TIME = 0.001
  132.  
  133. # Part program interpreter section --------------------------------------------
  134. [RS274NGC]
  135.  
  136. # File containing interpreter variables
  137. PARAMETER_FILE = sim.var
  138.  
  139. # Motion control section ------------------------------------------------------
  140. [EMCMOT]
  141.  
  142. EMCMOT = motmod
  143.  
  144. # Timeout for comm to emcmot, in seconds
  145. COMM_TIMEOUT = 1.0
  146.  
  147. # BASE_PERIOD is unused in this configuration but specified in core_sim.hal
  148. BASE_PERIOD = 0
  149. # Servo task period, in nano-seconds
  150. SERVO_PERIOD = 1000000
  151.  
  152. # section for main IO controller parameters -----------------------------------
  153. [EMCIO]
  154.  
  155. # Name of IO controller program, e.g., io
  156. EMCIO = io
  157.  
  158. # cycle time, in seconds
  159. CYCLE_TIME = 0.100
  160.  
  161. # tool table file
  162. TOOL_TABLE = sim.tbl
  163. TOOL_CHANGE_POSITION = 0 0 0
  164. TOOL_CHANGE_QUILL_UP = 1
  165.  
  166. # Hardware Abstraction Layer section --------------------------------------------------
  167. [HAL]
  168.  
  169. # The run script first uses halcmd to execute any HALFILE
  170. # files, and then to execute any individual HALCMD commands.
  171. #
  172.  
  173. # list of hal config files to run through halcmd
  174. # files are executed in the order in which they appear
  175. HALFILE = core_sim.hal
  176. HALFILE = sim_spindle_encoder.hal
  177. HALFILE = axis_manualtoolchange.hal
  178. HALFILE = simulated_home.hal
  179. HALFILE = check_xyz_constraints.hal
  180.  
  181. # list of halcmd commands to execute
  182. # commands are executed in the order in which they appear
  183. #HALCMD = save neta
  184.  
  185. # Single file that is executed after the GUI has started. Only supported by
  186. # AXIS at this time (only AXIS creates a HAL component of its own)
  187. #POSTGUI_HALFILE = test_postgui.hal
  188.  
  189. HALUI = halui
  190.  
  191. # Trajectory planner section --------------------------------------------------
  192. [TRAJ]
  193. COORDINATES = X Y Z
  194. LINEAR_UNITS = inch
  195. ANGULAR_UNITS = degree
  196. MAX_LINEAR_VELOCITY = 4
  197. DEFAULT_LINEAR_ACCEL = 100
  198. MAX_LINEAR_ACCEL = 100
  199. POSITION_FILE = position.txt
  200.  
  201. [KINS]
  202. KINEMATICS = trivkins
  203. JOINTS = 3
  204.  
  205. # Axes sections ---------------
  206. [AXIS_X]
  207. MAX_VELOCITY = 4
  208. MAX_ACCELERATION = 100.0
  209. MIN_LIMIT = 0.0
  210. MAX_LIMIT = 38.0
  211.  
  212. [AXIS_Y]
  213. MAX_VELOCITY = 4
  214. MAX_ACCELERATION = 100.0
  215. MIN_LIMIT = 0.0
  216. MAX_LIMIT = 43.0
  217.  
  218. [AXIS_Z]
  219. MAX_VELOCITY = 4
  220. MAX_ACCELERATION = 100.0
  221. MIN_LIMIT = -8.0
  222. MAX_LIMIT = 0.12
  223.  
  224. # Joints sections -------------
  225. [JOINT_0]
  226. TYPE = LINEAR
  227. HOME = 0.000
  228. MAX_VELOCITY = 5
  229. MAX_ACCELERATION = 50.0
  230. BACKLASH = 0.000
  231. INPUT_SCALE = 4000
  232. OUTPUT_SCALE = 1.000
  233. FERROR = 0.050
  234. MIN_FERROR = 0.010
  235. MIN_LIMIT = 0.0
  236. MAX_LIMIT = 38.0
  237. HOME_OFFSET = 0.0
  238. HOME_SEARCH_VEL = 20.0
  239. HOME_LATCH_VEL = 20.0
  240. HOME_USE_INDEX = NO
  241. HOME_IGNORE_LIMITS = NO
  242. HOME_SEQUENCE = 1
  243. HOME_IS_SHARED = 1
  244.  
  245. [JOINT_1]
  246. TYPE = LINEAR
  247. HOME = 0.000
  248. MAX_VELOCITY = 5
  249. MAX_ACCELERATION = 50.0
  250. BACKLASH = 0.000
  251. INPUT_SCALE = 4000
  252. OUTPUT_SCALE = 1.000
  253. FERROR = 0.050
  254. MIN_FERROR = 0.010
  255. MIN_LIMIT = 0.0
  256. MAX_LIMIT = 43.0
  257. HOME_OFFSET = 0.0
  258. HOME_SEARCH_VEL = 20.0
  259. HOME_LATCH_VEL = 20.0
  260. HOME_USE_INDEX = NO
  261. HOME_IGNORE_LIMITS = NO
  262. HOME_SEQUENCE = 1
  263.  
  264. [JOINT_2]
  265. TYPE = LINEAR
  266. HOME = 0.0
  267. MAX_VELOCITY = 5
  268. MAX_ACCELERATION = 50.0
  269. BACKLASH = 0.000
  270. INPUT_SCALE = 4000
  271. OUTPUT_SCALE = 1.000
  272. MIN_LIMIT = -8.0
  273.  
  274. # Normally the Z max should be 0.000!
  275. # The only reason it's greater than 0 here is so that the splash screen
  276. # gcode will run.
  277. MAX_LIMIT = 0.12
  278.  
  279. FERROR = 0.050
  280. MIN_FERROR = 0.010
  281. HOME_OFFSET = 1.0
  282. HOME_SEARCH_VEL = 20.0
  283. HOME_LATCH_VEL = 20.0
  284. HOME_USE_INDEX = NO
  285. HOME_IGNORE_LIMITS = NO
  286. HOME_SEQUENCE = 0
  287. HOME_IS_SHARED = 1
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